Vector¶
Vector is base class of other vector like classes. It represents a series of vectors.
In [1]:
from py3d import Vector
Vector()
Out[1]:
Vector([], dtype=float64)
In [3]:
Vector([0, 0, 0, 0])
Out[3]:
Vector([0, 0, 0, 0])
In [5]:
Vector([1, 2, -4])
Out[5]:
Vector([ 1, 2, -4])
In [7]:
Vector([1, 2, 3]).tile(2)
Out[7]:
Vector([[1, 2, 3],
[1, 2, 3]])
In [9]:
import py3d
py3d.Vector([1, 2, 0, 3])
Out[9]:
Vector([1, 2, 0, 3])
In [10]:
Vector([1]).tile(2)
Out[10]:
Vector([[1],
[1]])
Get unit vector
In [12]:
import py3d
V32 = py3d.Vector([
[1, 3],
[2, -9],
[0.1, -3]])
V32.U
Out[12]:
Vector([[ 0.31622777, 0.9486833 ],
[ 0.21693046, -0.97618706],
[ 0.03331483, -0.99944491]])
Get length of vectors
In [13]:
V32.L
Out[13]:
array([3.16227766, 9.21954446, 3.0016662 ])
In [15]:
from numpy import allclose
assert allclose(V32.U.L, [[1], [1], [1]])
Get homogeneous vector
In [16]:
V32.H
Out[16]:
Vector3([[ 1. , 3. , 1. ],
[ 2. , -9. , 1. ],
[ 0.1, -3. , 1. ]])
Get a series of random vectors
In [18]:
import py3d
py3d.Vector.rand(2,3,4)
Out[18]:
Vector([[[0.85941069, 0.10413378, 0.51952308, 0.74782298],
[0.36702619, 0.88246039, 0.76318851, 0.85502542],
[0.98269316, 0.72204633, 0.25865298, 0.90107837]],
[[0.73936434, 0.99393927, 0.99990164, 0.73288942],
[0.23033102, 0.61739376, 0.80302204, 0.87340815],
[0.13735818, 0.33913445, 0.38817438, 0.95354037]]])
In [20]:
import py3d
py3d.Vector([[0,0],[1,2],[3,4]]).diff()
Out[20]:
Vector([[1, 2],
[2, 2]])
Read pcd file
In [22]:
import py3d
py3d.read_pcd("ascii.pcd").xyz.as_point()
Out[22]:
In [23]:
import py3d
pcd = py3d.read_pcd("binary.pcd")
print("min", pcd.min())
print("max", pcd.max())
pcd.xyz.as_point().paint(py3d.Color.map(pcd.z))
min [-1.09082863e+02 -4.56674919e+01 -4.33038330e+00 2.50000000e+01 1.22393358e+09] max [9.74602280e+01 8.35153122e+01 4.22846746e+00 2.55000000e+02 1.22393358e+09]
Out[23]: